# pyre-unsafe
import itertools
import logging
from typing import Iterator, List, Dict, Optional

import cv2
import numpy as np
from opensfm import (
    features,
    log,
    pygeometry,
    pymap,
    transformations as tf,
    types,
    features_processing,
)
from opensfm.context import parallel_map
from opensfm.dataset import UndistortedDataSet
from opensfm.dataset_base import DataSetBase

logger: logging.Logger = logging.getLogger(__name__)


def undistort_reconstruction(
    tracks_manager: Optional[pymap.TracksManager],
    reconstruction: types.Reconstruction,
    data: DataSetBase,
    udata: UndistortedDataSet,
) -> Dict[pymap.Shot, List[pymap.Shot]]:
    all_images = set(data.images())
    image_format = data.config["undistorted_image_format"]
    urec = types.Reconstruction()
    urec.points = reconstruction.points
    urec.reference = reconstruction.reference
    rig_instance_count = itertools.count()
    utracks_manager = pymap.TracksManager()
    logger.debug("Undistorting the reconstruction")
    undistorted_shots = {}
    for shot in reconstruction.shots.values():
        if shot.id not in all_images:
            logger.warning(
                f"Not undistorting {shot.id} as it is missing from the dataset's input images."
            )
            continue
        if shot.camera.projection_type == "perspective":
            urec.add_camera(perspective_camera_from_perspective(shot.camera))
            subshots = [get_shot_with_different_camera(urec, shot, image_format)]
        elif shot.camera.projection_type == "brown":
            urec.add_camera(perspective_camera_from_brown(shot.camera))
            subshots = [get_shot_with_different_camera(urec, shot, image_format)]
        elif shot.camera.projection_type == "fisheye":
            urec.add_camera(perspective_camera_from_fisheye(shot.camera))
            subshots = [get_shot_with_different_camera(urec, shot, image_format)]
        elif shot.camera.projection_type == "fisheye_opencv":
            urec.add_camera(perspective_camera_from_fisheye_opencv(shot.camera))
            subshots = [get_shot_with_different_camera(urec, shot, image_format)]
        elif shot.camera.projection_type == "fisheye62":
            urec.add_camera(perspective_camera_from_fisheye62(shot.camera))
            subshots = [get_shot_with_different_camera(urec, shot, image_format)]
        elif pygeometry.Camera.is_panorama(shot.camera.projection_type):
            subshot_width = int(data.config["depthmap_resolution"])
            subshots = perspective_views_of_a_panorama(
                shot, subshot_width, urec, image_format, rig_instance_count
            )
        else:
            logger.warning(f"Not undistorting {shot.id} with unknown camera type.")
            continue

        for subshot in subshots:
            if tracks_manager:
                add_subshot_tracks(tracks_manager, utracks_manager, shot, subshot)
        undistorted_shots[shot.id] = subshots

    udata.save_undistorted_reconstruction([urec])
    if tracks_manager:
        udata.save_undistorted_tracks_manager(utracks_manager)

    udata.save_undistorted_shot_ids(
        {
            shot_id: [ushot.id for ushot in ushots]
            for shot_id, ushots in undistorted_shots.items()
        }
    )

    return undistorted_shots


def undistort_reconstruction_with_images(
    tracks_manager: Optional[pymap.TracksManager],
    reconstruction: types.Reconstruction,
    data: DataSetBase,
    udata: UndistortedDataSet,
    skip_images: bool = False,
) -> Dict[pymap.Shot, List[pymap.Shot]]:
    undistorted_shots = undistort_reconstruction(
        tracks_manager, reconstruction, data, udata
    )
    if not skip_images:
        arguments = []
        for shot_id, subshots in undistorted_shots.items():
            arguments.append((reconstruction.shots[shot_id], subshots, data, udata))

        processes = data.config["processes"]

        # trim processes to available memory, otherwise, pray
        mem_available = log.memory_available()
        if mem_available:
            # Use 90% of available memory
            ratio_use = 0.9
            mem_available *= ratio_use

            processing_size = data.config["depthmap_resolution"]
            output_size = processing_size * processing_size * 4 / 1024 / 1024

            undistort_factor = 3  # 1 for original image, 2 for (U,V) remapping
            input_size = features_processing.average_image_size(data) * undistort_factor
            processing_size = output_size + input_size
            processes = min(max(1, int(mem_available / processing_size)), processes)
            logger.info(
                f"Undistorting in parallel with {processes} processes ({processing_size} MB per image)"
            )

        parallel_map(undistort_image_and_masks, arguments, processes)
    return undistorted_shots


def undistort_image_and_masks(arguments) -> None:
    shot, undistorted_shots, data, udata = arguments
    log.setup()
    logger.debug("Undistorting image {}".format(shot.id))
    max_size = data.config["undistorted_image_max_size"]

    # Undistort image
    image = data.load_image(shot.id, unchanged=True, anydepth=True)
    if image is not None:
        undistorted = undistort_image(
            shot, undistorted_shots, image, cv2.INTER_AREA, max_size
        )
        for k, v in undistorted.items():
            udata.save_undistorted_image(k, v)

    # Undistort mask
    mask = data.load_mask(shot.id)
    if mask is not None:
        undistorted = undistort_image(
            shot, undistorted_shots, mask, cv2.INTER_NEAREST, max_size
        )
        for k, v in undistorted.items():
            udata.save_undistorted_mask(k, v)

    # Undistort segmentation
    segmentation = data.load_segmentation(shot.id)
    if segmentation is not None:
        undistorted = undistort_image(
            shot, undistorted_shots, segmentation, cv2.INTER_NEAREST, max_size
        )
        for k, v in undistorted.items():
            udata.save_undistorted_segmentation(k, v)


def undistort_image(
    shot: pymap.Shot,
    undistorted_shots: List[pymap.Shot],
    original: Optional[np.ndarray],
    interpolation,
    max_size: int,
) -> Dict[str, np.ndarray]:
    """Undistort an image into a set of undistorted ones.

    Args:
        shot: the distorted shot
        undistorted_shots: the set of undistorted shots covering the
            distorted shot field of view. That is 1 for most camera
            types and 6 for spherical cameras.
        original: the original distorted image array.
        interpolation: the opencv interpolation flag to use.
        max_size: maximum size of the undistorted image.
    """
    if original is None:
        return {}

    projection_type = shot.camera.projection_type
    if projection_type in ["perspective", "brown", "fisheye", "fisheye_opencv", "fisheye62"]:
        [undistorted_shot] = undistorted_shots
        new_camera = undistorted_shot.camera
        height, width = original.shape[:2]
        map1, map2 = pygeometry.compute_camera_mapping(
            shot.camera, new_camera, width, height
        )
        undistorted = cv2.remap(original, map1, map2, interpolation)
        return {undistorted_shot.id: scale_image(undistorted, max_size)}
    elif pygeometry.Camera.is_panorama(projection_type):
        subshot_width = undistorted_shots[0].camera.width
        width = 4 * subshot_width
        height = width // 2
        image = cv2.resize(original, (width, height), interpolation=interpolation)
        mint = cv2.INTER_LINEAR if interpolation == cv2.INTER_AREA else interpolation
        res = {}
        for undistorted_shot in undistorted_shots:
            undistorted = render_perspective_view_of_a_panorama(
                image, shot, undistorted_shot, mint
            )
            res[undistorted_shot.id] = scale_image(undistorted, max_size)
        return res
    else:
        raise NotImplementedError(
            "Undistort not implemented for projection type: {}".format(
                shot.camera.projection_type
            )
        )


def scale_image(image: np.ndarray, max_size: int) -> np.ndarray:
    """Scale an image not to exceed max_size."""
    height, width = image.shape[:2]
    factor = max_size / float(max(height, width))
    if factor >= 1:
        return image
    width = int(round(width * factor))
    height = int(round(height * factor))
    return cv2.resize(image, (width, height), interpolation=cv2.INTER_NEAREST)


def add_image_format_extension(shot_id: str, image_format: str) -> str:
    if shot_id.endswith(f".{image_format}"):
        return shot_id
    else:
        return f"{shot_id}.{image_format}"


def get_shot_with_different_camera(
    urec: types.Reconstruction,
    shot: pymap.Shot,
    image_format: str,
) -> pymap.Shot:
    new_shot_id = add_image_format_extension(shot.id, image_format)
    new_shot = urec.create_shot(new_shot_id, shot.camera.id, shot.pose)
    new_shot.metadata = shot.metadata
    return new_shot


def perspective_camera_from_perspective(
    distorted: pygeometry.Camera,
) -> pygeometry.Camera:
    """Create an undistorted camera from a distorted."""
    camera = pygeometry.Camera.create_perspective(distorted.focal, 0.0, 0.0)
    camera.id = distorted.id
    camera.width = distorted.width
    camera.height = distorted.height
    return camera


def perspective_camera_from_brown(brown: pygeometry.Camera) -> pygeometry.Camera:
    """Create a perspective camera from a Brown camera."""
    camera = pygeometry.Camera.create_perspective(
        brown.focal * (1 + brown.aspect_ratio) / 2.0, 0.0, 0.0
    )
    camera.id = brown.id
    camera.width = brown.width
    camera.height = brown.height
    return camera


def perspective_camera_from_fisheye(fisheye: pygeometry.Camera) -> pygeometry.Camera:
    """Create a perspective camera from a fisheye."""
    camera = pygeometry.Camera.create_perspective(fisheye.focal, 0.0, 0.0)
    camera.id = fisheye.id
    camera.width = fisheye.width
    camera.height = fisheye.height
    return camera


def perspective_camera_from_fisheye_opencv(
    fisheye_opencv: pygeometry.Camera,
) -> pygeometry.Camera:
    """Create a perspective camera from a fisheye extended."""
    camera = pygeometry.Camera.create_perspective(
        fisheye_opencv.focal * (1 + fisheye_opencv.aspect_ratio) / 2.0, 0.0, 0.0
    )
    camera.id = fisheye_opencv.id
    camera.width = fisheye_opencv.width
    camera.height = fisheye_opencv.height
    return camera


def perspective_camera_from_fisheye62(
    fisheye62: pygeometry.Camera,
) -> pygeometry.Camera:
    """Create a perspective camera from a fisheye extended."""
    camera = pygeometry.Camera.create_perspective(
        fisheye62.focal * (1 + fisheye62.aspect_ratio) / 2.0, 0.0, 0.0
    )
    camera.id = fisheye62.id
    camera.width = fisheye62.width
    camera.height = fisheye62.height
    return camera


def perspective_views_of_a_panorama(
    spherical_shot: pymap.Shot,
    width: int,
    reconstruction: types.Reconstruction,
    image_format: str,
    rig_instance_count: Iterator[int],
) -> List[pymap.Shot]:
    """Create 6 perspective views of a panorama."""
    camera = pygeometry.Camera.create_perspective(0.5, 0.0, 0.0)
    camera.id = "perspective_panorama_camera"
    camera.width = width
    camera.height = width
    reconstruction.add_camera(camera)

    names = ["front", "left", "back", "right", "top", "bottom"]
    rotations = [
        tf.rotation_matrix(-0 * np.pi / 2, np.array([0, 1, 0])),
        tf.rotation_matrix(-1 * np.pi / 2, np.array([0, 1, 0])),
        tf.rotation_matrix(-2 * np.pi / 2, np.array([0, 1, 0])),
        tf.rotation_matrix(-3 * np.pi / 2, np.array([0, 1, 0])),
        tf.rotation_matrix(-np.pi / 2, np.array([1, 0, 0])),
        tf.rotation_matrix(+np.pi / 2, np.array([1, 0, 0])),
    ]

    rig_instance = reconstruction.add_rig_instance(
        pymap.RigInstance(str(next(rig_instance_count)))
    )

    shots = []
    for name, rotation in zip(names, rotations):
        if name not in reconstruction.rig_cameras:
            rig_camera_pose = pygeometry.Pose()
            rig_camera_pose.set_rotation_matrix(rotation[:3, :3])
            rig_camera = pymap.RigCamera(rig_camera_pose, name)
            reconstruction.add_rig_camera(rig_camera)
        rig_camera = reconstruction.rig_cameras[name]

        shot_id = add_image_format_extension(
            f"{spherical_shot.id}_perspective_view_{name}", image_format
        )
        shot = reconstruction.create_shot(
            shot_id, camera.id, pygeometry.Pose(), rig_camera.id, rig_instance.id
        )
        shot.metadata = spherical_shot.metadata
        shots.append(shot)
    rig_instance.pose = spherical_shot.pose

    return shots


def render_perspective_view_of_a_panorama(
    image: np.ndarray,
    panoshot: pymap.Shot,
    perspectiveshot: pymap.Shot,
    interpolation=cv2.INTER_LINEAR,
    borderMode=cv2.BORDER_WRAP,
) -> np.ndarray:
    """Render a perspective view of a panorama."""
    # Get destination pixel coordinates
    dst_shape = (perspectiveshot.camera.height, perspectiveshot.camera.width)
    dst_y, dst_x = np.indices(dst_shape).astype(np.float32)
    dst_pixels_denormalized = np.column_stack([dst_x.ravel(), dst_y.ravel()])

    dst_pixels = features.normalized_image_coordinates(
        dst_pixels_denormalized,
        perspectiveshot.camera.width,
        perspectiveshot.camera.height,
    )

    # Convert to bearing
    dst_bearings = perspectiveshot.camera.pixel_bearing_many(dst_pixels)

    # Rotate to panorama reference frame
    rotation = np.dot(
        panoshot.pose.get_rotation_matrix(),
        perspectiveshot.pose.get_rotation_matrix().T,
    )
    rotated_bearings = np.dot(dst_bearings, rotation.T)

    # Project to panorama pixels
    src_pixels = panoshot.camera.project_many(rotated_bearings)
    src_pixels_denormalized = features.denormalized_image_coordinates(
        src_pixels, image.shape[1], image.shape[0]
    )

    src_pixels_denormalized.shape = dst_shape + (2,)

    # Sample color
    x = src_pixels_denormalized[..., 0].astype(np.float32)
    y = src_pixels_denormalized[..., 1].astype(np.float32)
    colors = cv2.remap(image, x, y, interpolation, borderMode=borderMode)

    return colors


def add_subshot_tracks(
    tracks_manager: pymap.TracksManager,
    utracks_manager: pymap.TracksManager,
    shot: pymap.Shot,
    subshot: pymap.Shot,
) -> None:
    """Add shot tracks to the undistorted tracks_manager."""
    if shot.id not in tracks_manager.get_shot_ids():
        return

    if pygeometry.Camera.is_panorama(shot.camera.projection_type):
        add_pano_subshot_tracks(tracks_manager, utracks_manager, shot, subshot)
    else:
        for track_id, obs in tracks_manager.get_shot_observations(shot.id).items():
            utracks_manager.add_observation(subshot.id, track_id, obs)


def add_pano_subshot_tracks(
    tracks_manager: pymap.TracksManager,
    utracks_manager: pymap.TracksManager,
    panoshot: pymap.Shot,
    perspectiveshot: pymap.Shot,
) -> None:
    """Add edges between subshots and visible tracks."""
    for track_id, obs in tracks_manager.get_shot_observations(panoshot.id).items():
        bearing = panoshot.camera.pixel_bearing(obs.point)
        rotation = np.dot(
            perspectiveshot.pose.get_rotation_matrix(),
            panoshot.pose.get_rotation_matrix().T,
        )

        rotated_bearing = np.dot(bearing, rotation.T)
        if rotated_bearing[2] <= 0:
            continue

        perspective_feature = perspectiveshot.camera.project(rotated_bearing)
        if (
            perspective_feature[0] < -0.5
            or perspective_feature[0] > 0.5
            or perspective_feature[1] < -0.5
            or perspective_feature[1] > 0.5
        ):
            continue

        obs.point = perspective_feature
        utracks_manager.add_observation(perspectiveshot.id, track_id, obs)
